4 papers
Agree to Disagree: Consensus-Free Flocking under Constraints
Peter Travis Jardine, Sidney Givigi
Robots sometimes have to work together with a mixture of partially-aligned or conflicting goals. Flocking - coordinated motion through cohesion, alignment, and separation - traditi…
Lie Group Control Architectures for UAVs: a Comparison of SE2(3)-Based Approaches in Simulation and Hardware
Dimitria Silveria, Kleber Cabral, Peter Jardine +1
This paper presents the integration and experimental validation of advanced control strategies for quadcopters based on Lie groups. We build upon recent theoretical developments on…
Decentralized Swarm Control via SO(3) Embeddings for 3D Trajectories
Dimitria Silveria, Kleber Cabral, Peter Jardine +1
This paper presents a novel decentralized approach for achieving emergent behavior in multi-agent systems with minimal information sharing. Based on prior work in simple orbits, ou…
Emergent Structure in Multi-agent Systems Using Geometric Embeddings
Dimitria Silveria, Kleber Cabral, Peter Jardine +1
This work investigates the self-organization of multi-agent systems into closed trajectories, a common requirement in unmanned aerial vehicle (UAV) surveillance tasks. In such scen…